eCompass (6-axes electronic compass) / Electronic Compass with Three-axis Magnetic Field Sensor and Three-axis Accelerometer by Bosch Sensortech
Dependents: BLE_EddystoneBeacon_w_ACC_TY51822
Revision 3:24aa4d5fa7de, committed 2017-08-23
- Comitter:
- kenjiArai
- Date:
- Wed Aug 23 09:22:29 2017 +0000
- Parent:
- 2:93141eb80862
- Commit message:
- countermeasure for NonCopyable
Changed in this revision
BMC050.cpp | Show annotated file Show diff for this revision Revisions of this file |
BMC050.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 93141eb80862 -r 24aa4d5fa7de BMC050.cpp --- a/BMC050.cpp Wed Jun 01 12:30:38 2016 +0000 +++ b/BMC050.cpp Wed Aug 23 09:22:29 2017 +0000 @@ -3,17 +3,11 @@ * BMC050 COMPASS 6 AXIS, made by Bosch Sensortec * http://jp.bosch-sensortec.com/content/language1/html/5033.htm * - * Copyright (c) 2014, 2016 Kenji Arai / JH1PJL + * Copyright (c) 2014,'16,'17 Kenji Arai / JH1PJL * http://www.page.sannet.ne.jp/kenjia/index.html * http://mbed.org/users/kenjiArai/ - * Created: July 19th, 2014 - * Revised: June 1st, 2016 - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, - * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE - * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, - * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * Created: July 19th, 2014 + * Revised: August 23rd, 2017 */ #include "BMC050.h" @@ -21,8 +15,8 @@ BMC050::BMC050 ( PinName p_sda, PinName p_scl, const BMC050ACC_TypeDef *acc_parameter, - const BMC050MAG_TypeDef *mag_parameter) : - i2c(p_sda, p_scl) + const BMC050MAG_TypeDef *mag_parameter) + : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) { initialize (acc_parameter, mag_parameter); } @@ -30,8 +24,8 @@ BMC050::BMC050 ( I2C& p_i2c, const BMC050ACC_TypeDef *acc_parameter, - const BMC050MAG_TypeDef *mag_parameter) : - i2c(p_i2c) + const BMC050MAG_TypeDef *mag_parameter) + : _i2c(p_i2c) { initialize (acc_parameter, mag_parameter); } @@ -48,18 +42,18 @@ if (mag_addr != BMC050_MAG_NOT_USED_ADDR) { dbf[0] = BMC050_M_POWER_MODE; dbf[1] = 0x01; // Power control bit on - i2c.write(mag_addr, dbf, 2); + _i2c.write(mag_addr, dbf, 2); dbf[0] = BMC050_M_OPERATION; dbf[1] = 0; - i2c.write(mag_addr, dbf, 2); + _i2c.write(mag_addr, dbf, 2); } /////////////// Accelerometer configuration //////////////// // Check acc chip is available of not // step 1/start acc_addr = acc_parameter->addr; dbf[0] = BMC050_A_WHO_AM_I; - i2c.write(acc_addr, dbf, 1); - i2c.read(acc_addr, dbf, 1); + _i2c.write(acc_addr, dbf, 1); + _i2c.read(acc_addr, dbf, 1); if (dbf[0] == I_AM_BMC050_ACC){ acc_ready = 1; } else { acc_ready = 0; } /////////////// Magnetometer Configuration ///////////////// @@ -67,10 +61,10 @@ // -> Need to go "Normal mode" via "Sleep mode" // step 2 if (mag_addr != BMC050_MAG_NOT_USED_ADDR) { - i2c.write(mag_addr, dbf, 2); + _i2c.write(mag_addr, dbf, 2); dbf[0] = BMC050_M_OPERATION; dbf[1] = 0; - i2c.write(mag_addr, dbf, 2); + _i2c.write(mag_addr, dbf, 2); } /////////////// Accelerometer configuration //////////////// // step 2/last @@ -95,7 +89,7 @@ fs_factor_acc = 256; dbf[1] = BMC050_FS_2G; } - i2c.write(acc_addr, dbf, 2); + _i2c.write(acc_addr, dbf, 2); // set bandwidth dbf[1] = acc_parameter->bandwith; if (dbf[1] == BMC050_NOT_FILTERED){ @@ -104,22 +98,22 @@ } else { dbf[0] = BMC050_A_BANDWIDTH; } - i2c.write(acc_addr, dbf, 2); + _i2c.write(acc_addr, dbf, 2); } /////////////// Magnetometer Configuration ///////////////// // Check mag chip is available of not // step 3/last if (mag_addr != BMC050_MAG_NOT_USED_ADDR) { dbf[0] = BMC050_M_WHO_AM_I; - i2c.write(mag_addr, dbf, 1); - i2c.read(mag_addr, dbf, 1); + _i2c.write(mag_addr, dbf, 1); + _i2c.read(mag_addr, dbf, 1); if (dbf[0] == I_AM_BMC050_MAG){ mag_ready = 1; } else { mag_ready = 0; } if ( mag_ready == 1){ // set output data rate dbf[0] = BMC050_M_OPERATION; dbf[1] = mag_parameter->data_rate; - i2c.write(mag_addr, dbf, 2); + _i2c.write(mag_addr, dbf, 2); } } } @@ -134,8 +128,8 @@ } // X,Y &Z dbf[0] = BMC050_A_OUT_X_L; - i2c.write(acc_addr, dbf, 1, true); - i2c.read(acc_addr, data, 6, false); + _i2c.write(acc_addr, dbf, 1, true); + _i2c.read(acc_addr, data, 6, false); // change data type dt[0] = float((short(data[1] << 8 | data[0] & 0xc0))>> 6) * GRAVITY / fs_factor_acc; dt[1] = float((short(data[3] << 8 | data[2] & 0xc0))>> 6) * GRAVITY / fs_factor_acc; @@ -154,8 +148,8 @@ } // X,Y &Z dbf[0] = BMC050_A_OUT_X_L; - i2c.write(acc_addr, dbf, 1, true); - i2c.read(acc_addr, data, 6, false); + _i2c.write(acc_addr, dbf, 1, true); + _i2c.read(acc_addr, data, 6, false); // change data type dt[0] = float((short(data[1] << 8 | data[0] & 0xc0))>> 6) / fs_factor_acc; dt[1] = float((short(data[3] << 8 | data[2] & 0xc0))>> 6) / fs_factor_acc; @@ -172,8 +166,8 @@ } // X,Y &Z dbf[0] = BMC050_M_OUT_X_L; - i2c.write(mag_addr, dbf, 1, true); - i2c.read(mag_addr, data, 6, false); + _i2c.write(mag_addr, dbf, 1, true); + _i2c.read(mag_addr, data, 6, false); // change data type dt[0] = float((short(data[1] << 8 | data[0] & 0xf8))>> 3); dt[1] = float((short(data[3] << 8 | data[2] & 0xf8))>> 3); @@ -183,24 +177,24 @@ /////////////// Accelerometer /////////////////// float BMC050::read_temp() { dbf[0] = BMC050_A_OUT_TEMP; - i2c.write(acc_addr, dbf, 1); - i2c.read(acc_addr, dbf, 1); - return ((float)dbf[0] * 0.5 + 24.0); + _i2c.write(acc_addr, dbf, 1); + _i2c.read(acc_addr, dbf, 1); + return ((float)dbf[0] * 0.5f + 24.0f); } /////////////// Accelerometer /////////////////// uint8_t BMC050::read_id_acc() { dbf[0] = BMC050_A_WHO_AM_I; - i2c.write(acc_addr, dbf, 1); - i2c.read(acc_addr, dbf, 1); + _i2c.write(acc_addr, dbf, 1); + _i2c.read(acc_addr, dbf, 1); return (uint8_t)dbf[0]; } /////////////// Magnetometer //////////////////// uint8_t BMC050::read_id_mag() { dbf[0] = BMC050_M_WHO_AM_I; - i2c.write(mag_addr, dbf, 1); - i2c.read(mag_addr, dbf, 1); + _i2c.write(mag_addr, dbf, 1); + _i2c.read(mag_addr, dbf, 1); return (uint8_t)dbf[0]; } @@ -208,8 +202,8 @@ uint8_t BMC050::data_ready_acc() { if (acc_ready == 1){ dbf[0] = BMC050_A_OUT_X_L; - i2c.write(acc_addr, dbf, 1); - i2c.read(acc_addr, dbf, 1); + _i2c.write(acc_addr, dbf, 1); + _i2c.read(acc_addr, dbf, 1); if (!(dbf[0] & 0x01)){ return 0; } @@ -221,8 +215,8 @@ uint8_t BMC050::data_ready_mag() { if (mag_ready == 1){ dbf[0] = BMC050_M_HALL_L; - i2c.write(mag_addr, dbf, 1); - i2c.read(mag_addr, dbf, 1); + _i2c.write(mag_addr, dbf, 1); + _i2c.read(mag_addr, dbf, 1); if (!(dbf[0] & 0x01)){ return 0; } @@ -234,8 +228,8 @@ uint8_t BMC050::read_reg_acc(uint8_t addr) { if (acc_ready == 1){ dbf[0] = addr; - i2c.write(acc_addr, dbf, 1); - i2c.read(acc_addr, dbf, 1); + _i2c.write(acc_addr, dbf, 1); + _i2c.read(acc_addr, dbf, 1); } else { dbf[0] = 0xff; } @@ -246,8 +240,8 @@ uint8_t BMC050::read_reg_mag(uint8_t addr) { if (mag_ready == 1){ dbf[0] = addr; - i2c.write(mag_addr, dbf, 1); - i2c.read(mag_addr, dbf, 1); + _i2c.write(mag_addr, dbf, 1); + _i2c.read(mag_addr, dbf, 1); } else { dbf[0] = 0xff; } @@ -259,7 +253,7 @@ if (acc_ready == 1){ dbf[0] = addr; dbf[1] = data; - i2c.write(acc_addr, dbf, 2); + _i2c.write(acc_addr, dbf, 2); } } @@ -268,11 +262,12 @@ if (mag_ready == 1){ dbf[0] = addr; dbf[1] = data; - i2c.write(mag_addr, dbf, 2); + _i2c.write(mag_addr, dbf, 2); } } /////////////// Common ////////////////////////// void BMC050::frequency(int hz) { - i2c.frequency(hz); + _i2c.frequency(hz); } +
diff -r 93141eb80862 -r 24aa4d5fa7de BMC050.h --- a/BMC050.h Wed Jun 01 12:30:38 2016 +0000 +++ b/BMC050.h Wed Aug 23 09:22:29 2017 +0000 @@ -3,17 +3,11 @@ * BMC050 COMPASS 6 AXIS, made by Bosch Sensortec * http://jp.bosch-sensortec.com/content/language1/html/5033.htm * - * Copyright (c) 2014, 2016 Kenji Arai / JH1PJL + * Copyright (c) 2014,'16,'17 Kenji Arai / JH1PJL * http://www.page.sannet.ne.jp/kenjia/index.html * http://mbed.org/users/kenjiArai/ - * Created: July 19th, 2014 - * Revised: June 1st, 2016 - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, - * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE - * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, - * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * Created: July 19th, 2014 + * Revised: August 23rd, 2017 */ #ifndef BMC050_H @@ -284,7 +278,8 @@ void initialize(const BMC050ACC_TypeDef *acc_parameter, const BMC050MAG_TypeDef *mag_parameter); - I2C i2c; + I2C *_i2c_p; + I2C &_i2c; private: float fs_factor_acc; // full scale factor @@ -298,3 +293,4 @@ }; #endif // BMC050_H +